Map Type Selection

I am interested in identifying the best way to combine information from topos and street maps. Since many of my kayak or backpacking journeys cross roads or bridges that may be possible start/stop points. The MAPNIKs are great for roads only but show no ground/water features whatsoever. The Topos have major highways but secondary roads are very difficult to make out. Is there a method of combining or a known format that has a bit of a compromise? It seems that Google Earth or GMaps is about the compromise I am looking for but I read in another post that maps from there are not legal for download.